Cooperative guidance is a kind of guidance method that multiple missiles accomplish attack or defense tasks cooperatively according to a certain control strategy through information sharing and division of work.It is an important direction in the guidance field in recent years and an inevitable development trend for autonomous combat in the future.In order to complete the specific guidance task and achieve better guidance effect,the research and application of cooperative guidance under multiple constraints is particularly important.This paper comprehensively discusses the research progress of the guidance law under the condition of multiple constraints in the scenario of cooperative combat,including the attack time constraint,attack angle constraint,field of view angle constraint,and multi-constraint comprehensive consideration.Finally,the future development trend in the field of cooperative guidance is prospected.